Warp Mesh

This example shows usage of Warp node to warp the input image frame.

Setup

Please run the install script to download all required dependencies. Please note that this script must be ran from git context, so you have to download the depthai-python repository first and then run the script

Command Line

1git clone https://github.com/luxonis/depthai-python.git
2cd depthai-python/examples
3python3 install_requirements.py

For additional information, please follow the installation guide.

Demo

Source code

Python

C++

Python

GitHub

1#!/usr/bin/env python3
2import cv2
3import depthai as dai
4import numpy as np
5
6# Create pipeline
7pipeline = dai.Pipeline()
8
9camRgb = pipeline.create(dai.node.ColorCamera)
10camRgb.setPreviewSize(496, 496)
11camRgb.setInterleaved(False)
12maxFrameSize = camRgb.getPreviewWidth() * camRgb.getPreviewHeight() * 3
13
14# Warp preview frame 1
15warp1 = pipeline.create(dai.node.Warp)
16# Create a custom warp mesh
17tl = dai.Point2f(20, 20)
18tr = dai.Point2f(460, 20)
19ml = dai.Point2f(100, 250)
20mr = dai.Point2f(400, 250)
21bl = dai.Point2f(20, 460)
22br = dai.Point2f(460, 460)
23warp1.setWarpMesh([tl,tr,ml,mr,bl,br], 2, 3)
24WARP1_OUTPUT_FRAME_SIZE = (992,500)
25warp1.setOutputSize(WARP1_OUTPUT_FRAME_SIZE)
26warp1.setMaxOutputFrameSize(WARP1_OUTPUT_FRAME_SIZE[0] * WARP1_OUTPUT_FRAME_SIZE[1] * 3)
27warp1.setHwIds([1])
28warp1.setInterpolation(dai.Interpolation.NEAREST_NEIGHBOR)
29
30camRgb.preview.link(warp1.inputImage)
31xout1 = pipeline.create(dai.node.XLinkOut)
32xout1.setStreamName('out1')
33warp1.out.link(xout1.input)
34
35# Warp preview frame 2
36warp2 = pipeline.create(dai.node.Warp)
37# Create a custom warp mesh
38mesh2 = [
39    (20, 20), (250, 100), (460, 20),
40    (100, 250), (250, 250), (400, 250),
41    (20, 480), (250, 400), (460,480)
42]
43warp2.setWarpMesh(mesh2, 3, 3)
44warp2.setMaxOutputFrameSize(maxFrameSize)
45warp1.setHwIds([2])
46warp2.setInterpolation(dai.Interpolation.BICUBIC)
47
48camRgb.preview.link(warp2.inputImage)
49xout2 = pipeline.create(dai.node.XLinkOut)
50xout2.setStreamName('out2')
51warp2.out.link(xout2.input)
52
53# Connect to device and start pipeline
54with dai.Device(pipeline) as device:
55    # Output queue will be used to get the rgb frames from the output defined above
56    q1 = device.getOutputQueue(name="out1", maxSize=8, blocking=False)
57    q2 = device.getOutputQueue(name="out2", maxSize=8, blocking=False)
58
59    while True:
60        in1 = q1.get()
61        if in1 is not None:
62            cv2.imshow("Warped preview 1", in1.getCvFrame())
63        in2 = q2.get()
64        if in2 is not None:
65            cv2.imshow("Warped preview 2", in2.getCvFrame())
66
67        if cv2.waitKey(1) == ord('q'):
68            break

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Warp Mesh

Setup

Demo

Source code

Python

Pipeline

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